Linear analysis of a force reflective teleoperator

Complex force reflective teleoperation systems are often very difficult to analyze due to the large number of components and control loops involved. One mode of a force reflective teleoperator is described. An analysis of the performance of the system based on a linear analysis of the general full order model is presented. Reduced order models are derived and correlated with the full order models. Basic effects of force feedback and position feedback are examined and the effects of time delays between the master and slave are studied. The results show that with symmetrical position-position control of teleoperators, a basic trade off must be made between the intersystem stiffness of the teleoperator, and the impedance felt by the operator in free space

Rate theory for correlated processes: Double-jumps in adatom diffusion

We study the rate of activated motion over multiple barriers, in particular the correlated double-jump of an adatom diffusing on a missing-row reconstructed Platinum (110) surface. We develop a Transition Path Theory, showing that the activation energy is given by the minimum-energy trajectory which succeeds in the double-jump. We explicitly calculate this trajectory within an effective-medium molecular dynamics simulation. A cusp in the acceptance region leads to a sqrt{T} prefactor for the activated rate of double-jumps. Theory and numerical results agree

Infrared Optical Properties of Ferropericlase (Mg1-xFexO): Experiment and Theory

The temperature dependence of the reflectance spectra of magnesium oxide (MgO) and ferropericlase (Mg1-xFexO, for x=0.06 and x=0.27) have been measured over a wide frequency range (~50 to 32000 cm-1) at 295 and 6 K. The complex dielectric function has been determined from a Kramers-Kronig analysis of the reflectance. The spectra of the doped materials resembles pure MgO in the infrared region, but with much broader resonances. We use a shell model to calculate the dielectric function of ferropericlase, including both anharmonic phonon-phonon interactions and disorder scattering. These data are relevant to understanding the heat conductivity of ferropericlase in the earth's lower mantle.Comment: 17 pages, 6 figure

A real-space grid implementation of the Projector Augmented Wave method

A grid-based real-space implementation of the Projector Augmented Wave (PAW) method of P. E. Blochl [Phys. Rev. B 50, 17953 (1994)] for Density Functional Theory (DFT) calculations is presented. The use of uniform 3D real-space grids for representing wave functions, densities and potentials allows for flexible boundary conditions, efficient multigrid algorithms for solving Poisson and Kohn-Sham equations, and efficient parallelization using simple real-space domain-decomposition. We use the PAW method to perform all-electron calculations in the frozen core approximation, with smooth valence wave functions that can be represented on relatively coarse grids. We demonstrate the accuracy of the method by calculating the atomization energies of twenty small molecules, and the bulk modulus and lattice constants of bulk aluminum. We show that the approach in terms of computational efficiency is comparable to standard plane-wave methods, but the memory requirements are higher.Comment: 13 pages, 3 figures, accepted for publication in Physical Review

Sound velocity and absorption measurements under high pressure using picosecond ultrasonics in diamond anvil cell. Application to the stability study of AlPdMn

We report an innovative high pressure method combining the diamond anvil cell device with the technique of picosecond ultrasonics. Such an approach allows to accurately measure sound velocity and attenuation of solids and liquids under pressure of tens of GPa, overcoming all the drawbacks of traditional techniques. The power of this new experimental technique is demonstrated in studies of lattice dynamics, stability domain and relaxation process in a metallic sample, a perfect single-grain AlPdMn quasicrystal, and rare gas, neon and argon. Application to the study of defect-induced lattice stability in AlPdMn up to 30 GPa is proposed. The present work has potential for application in areas ranging from fundamental problems in physics of solid and liquid state, which in turn could be beneficial for various other scientific fields as Earth and planetary science or material research

Nd-142/Nd-144 in bulk planetary reservoirs, the problem of incomplete mixing of interstellar components and significance of very high precision Nd-145/Nd-144 measurements

Apart from the challenge of very high precision Nd-142/Nd-144 ratio measurement, accurate applications of the coupled Sm-(146,147)-Nd-(142,143) systematics in planetary differentiation studies require very precise knowledge of the present-day (post-Sm-146 decay) Nd-142/Nd-144 ratios of bulk planetary objects (BP). The coupled systematics yield model ages for the time of formation of Sm/Nd-fractionated reservoirs by differentiation of Sm/Nd-unfractionated bulk planetary reservoirs. Estimates of (Nd-142/Nd-144)(sub BP) and (Nd-143/Nd-144)(sub BP) therefore provide the critical baseline relative to which these model ages are referenced. In the Sm-147-Nd-143 systematics, Nd-143/Nd-144 variations are mostly large; therefore, small variations in initial Nd-143/Nd-144 ratios generally can be ignored. However, in the case of Sm-146-Nd-142, the range of Nd-142/Nd-144 divergence for differentiated planetary reservoirs is much smaller. Consequently Sm-(146,147)-Nd-(142,143) model ages are sensitive to small variations in bulk planetary Nd-142/Nd-144 (both present-day and initial). One major unanswered question is whether or not Nd shelf standards (CIT Nd beta/Ames metal, La Jolla, NASA-JSC/Ames metal) have Nd-142/Nd-144 identical to the bulk Earth or otherwise might record some degree of radiogenic evolution in an early-fractionated reservoir. Our discussions of earth Earth differentiation based on Nd-142/Nd-144 in Isua and Acasta samples have employed a working assumption: (Nd-142/Nd-144)(sub Nd beta) = (Nd-142/Nd-144)(sub Bulk Earth). This requires experimental justification and is apparently contradicted by chondrite Nd-142/Nd-144 measurements, which have been interpreted to indicate: (Nd-142/Nd-144)(sub JSC/Ames metal) = ((Nd-142/Nd-144)(sub CHUR) = 35 plus or minus 8 ppm). At present, interpretations of the early Earth and Moon hinge largely on this issue. Because Ba in bulk chondrite samples exhibit similar magnitude nuclear anomalies, attributable to incomplete mixing of interstellar components, a critical question is whether or not nuclear effects are also present in Nd-142/Nd-144, both in bulk chondrites and between planetary objects

Constraints on the differentiation of the Earth from the coupled Sm-146,147-Nd-142,143 systematics

The coupled Sm-Nd systematics are a powerful (albeit analytically challenging) tool for investigating the geodynamic history of the Earth. We have previously reported evidence for a 33 ppm difference of an Isua sample relative to our terrestrial standard. Interpretation yields a formation age range for the depleted mantle (DM) source reservoir of 4.45-4.55 Ga. This is consistent with an epoch of LREE-enriched melt extraction from the mantle (proto-crust formation), soon after magma ocean freeze-up following the putative Moon forming giant impact

Critical manifold of the kagome-lattice Potts model

Any two-dimensional infinite regular lattice G can be produced by tiling the plane with a finite subgraph B of G; we call B a basis of G. We introduce a two-parameter graph polynomial P_B(q,v) that depends on B and its embedding in G. The algebraic curve P_B(q,v) = 0 is shown to provide an approximation to the critical manifold of the q-state Potts model, with coupling v = exp(K)-1, defined on G. This curve predicts the phase diagram both in the ferromagnetic (v>0) and antiferromagnetic (v<0) regions. For larger bases B the approximations become increasingly accurate, and we conjecture that P_B(q,v) = 0 provides the exact critical manifold in the limit of infinite B. Furthermore, for some lattices G, or for the Ising model (q=2) on any G, P_B(q,v) factorises for any choice of B: the zero set of the recurrent factor then provides the exact critical manifold. In this sense, the computation of P_B(q,v) can be used to detect exact solvability of the Potts model on G. We illustrate the method for the square lattice, where the Potts model has been exactly solved, and the kagome lattice, where it has not. For the square lattice we correctly reproduce the known phase diagram, including the antiferromagnetic transition and the singularities in the Berker-Kadanoff phase. For the kagome lattice, taking the smallest basis with six edges we recover a well-known (but now refuted) conjecture of F.Y. Wu. Larger bases provide successive improvements on this formula, giving a natural extension of Wu's approach. The polynomial predictions are in excellent agreement with numerical computations. For v>0 the accuracy of the predicted critical coupling v_c is of the order 10^{-4} or 10^{-5} for the 6-edge basis, and improves to 10^{-6} or 10^{-7} for the largest basis studied (with 36 edges).Comment: 31 pages, 12 figure

Static displacements and chemical correlations in alloys

Recent experiments in metallic solid solutions have revealed interesting correlations between static pair-displacements and the ordering behavior of these alloys. This paper discusses a simple theoretical model which successfully explains these observations and which provides a natural framework for analyzing experimental measurements of pair-displacements and chemical correlations in solid solutions. The utility and scope of this model is demonstrated by analyzing results of experiments on $Ni-Fe$ and $Cr-Fe$ alloys and results of simulations of $Cu-Au$ and $Cu-Ag$ alloys.Comment: 12 page